Active control method and system for micro-vibration of spacecraft

Abstract

The invention discloses a spacecraft micro-vibration active control method and system, and belongs to the technical field of spacecraft micro-vibration control. According to the invention, closed-loop control software is developed based on a control algorithm and is carried in the controller; the micro-vibration information of the spacecraft structure is obtained by installing the sensors in different areas, an expected control signal is calculated in real time through closed-loop control software carried by the controller in operation, and control force is actively applied to the spacecraft structure to offset micro-vibration interference by installing the actuators in different areas. According to the method, an original force transmission system of a spacecraft structure is not changed, the internal relative position relation of a controlled object is not affected, adjustment can be automatically made in real time according to the in-orbit micro-vibration state change through closed-loop feedback information, the double requirements for high-precision installation and high-precision vibration reduction and isolation of the controlled object can be met, and the method is suitable for large-scale popularization and application. The reliability and robustness of on-orbit micro-vibration suppression are improved, and the method has high universality and wide application prospects.

Description

Technical Field

[0001] The present invention relates to a method and system for active control of spacecraft micro-vibrations, belonging to the technical field of spacecraft micro-vibration control. Background Art

[0002] When active components such as momentum wheels, CMGs, and cryocoolers widely used on spacecraft work in orbit, micro-vibration disturbances with various frequency components will inevitably be generated. This continuously existing disturbance is transmitted to high-precision payloads such as optical cameras, which will seriously affect their working performance. With the improvement of the observation performance indicators of high-precision and high-stability spacecraft systems, the demand for suppressing the above-mentioned in-orbit micro-vibrations by payloads represented by optical imaging cameras is becoming increasingly stringent.

[0003] Currently, passive vibration isolation technologies are widely used in domestic and foreign spacecraft to solve the micro-vibration interference of active components such as momentum wheels, CMGs, and cryocooler compressors on payloads. The main products are pure passive vibration isolation devices such as vibration source isolators and payload isolators. Such devices mainly reduce the installation stiffness of active components or imaging payloads to isolate the influence of high-frequency micro-vibrations of the vibration source. Therefore, it is difficult to guarantee the installation accuracy of the isolated object, and the vibration isolation performance cannot be adjusted after the spacecraft is launched into orbit. For some objects with both high installation accuracy and high vibration reduction and isolation requirements (such as optical detectors, etc.), the above-mentioned pure passive vibration isolation technology is difficult to apply, and active control technical means need to be sought to meet the above requirements. Summary of the Invention

[0004] The technical problem solved by the present invention is: overcoming the deficiencies of the prior art, providing a method and system for active control of spacecraft micro-vibrations, realizing the high-precision installation of the isolated object and the active adjustment of the in-orbit suppression performance at the same time, including an active control algorithm for micro-vibrations and an active control system for micro-vibrations.

[0005] The technical solution of the present invention is: In the first aspect, a method for active control of spacecraft micro-vibrations calculates the root mean square RMS0 of the error signal before the active control of the spacecraft micro-vibration controller is turned on, and calculates the constant value MiuCst of the convergence factor at the moment before the start of the active control loop calculation; enter the active closed-loop control loop iterative calculation, including:

[0006] S1, according to the disturbance frequency f of the passive object, calculate the sine trigonometric function base signal SinBase and the cosine trigonometric function base signal CosBase;

[0007] S2, according to the desired target signal DesSig, update the error signal Error in real time with the acquired signal MeaSig as the input;

[0008] S3. Update the root mean square (RMS) of the error in real time according to the error signal Error, and calculate the maximum value of the convergence factor MiuMax and the control efficiency CtrEff in real time in combination with the input configuration parameters;

[0009] S4. Judge the magnitude relationship between the RMS and the RMS target factor RMSdes of the error signal Error in real time, and determine the value of the control algorithm conversion factor LmsType;

[0010] S5. Select different active control algorithms for iterative update of the convergence factor according to the value of the control algorithm conversion factor LmsType;

[0011] S6. Perform iterative update calculations on the tap coefficients Wsin of the sine trigonometric function base signal SinBase and the tap coefficients Wcos of the cosine trigonometric function base signal CosBase;

[0012] S7. Update and calculate the output control signal CtrSig to complete the active control of the spacecraft micro-vibration in the current cycle;

[0013] S8. Return to S1 and enter the next iterative loop calculation step.

[0014] Further, the constant value of the convergence factor MiuCst at the previous moment when the active control loop calculation is started is MiuCst = RMSFac / (δ + RMS0); where RMSFac is the root mean square shrinkage factor and δ is the root mean square zero-crossing factor.

[0015] Further, the sine trigonometric function base signal SinBase and the cosine trigonometric function base signal CosBase are respectively SinBase = sin(2πft) and CosBase = cos(2πft); where t is the current time.

[0016] Further, the maximum value of the convergence factor MiuMax and the control efficiency CtrEff are respectively MiuMax = RMSFac / RMS and CtrEff = 1 - RMS / (δ + RMS0); where RMSFac is the root mean square shrinkage factor and δ is the root mean square zero-crossing factor.

[0017] Further, the selection of different active control algorithms for iterative update of the convergence factor includes:

[0018] When RMS ≥ RMSdes, use the variable step size active control algorithm for iterative update of the convergence factor;

[0019] Conversely, use the fixed step size active control algorithm for iterative update of the convergence factor.

[0020] Further, the variable step size active control algorithm includes:

[0021] u = -Error^2

[0022] Miu1 = f(u) * MiuMax + MiuCst

[0023] Miu2 = min(Miu1, MiuMax)

[0024] MiuCur = max(Miu2, MiuMax);

[0025] Among them, MiuCur is the current convergence factor, u, Miu1, and Miu2 are intermediate calculation parameters, and f(u) is the step size shaping function.

[0026] Further, the fixed step size active control algorithm includes:

[0027] Miu1 = MiuCst

[0028] MiuCur = max(Miu1, MiuMax);

[0029] Among them, MiuCur is the current convergence factor, and Miu1 is an intermediate calculation parameter.

[0030] Further, the tap coefficient Wsin and the tap coefficient Wcos are respectively

[0031] Wsin = 2 * (SecPahWsin * SinBase + SecPahWcos * CosBase) * MiuCur * Error + Wsin

[0032] Wcos = 2 * (SecPahWsin * CosBase - SecPahWcos * SinBase) * MiuCur * Error + Wcos where SecPahWsin, SecPahWcos are compensation coefficients, and MiuCur is the current convergence factor.

[0033] Further, the output control signal is

[0034] CtrSig = (SinBase * Wsin + CosBase * Wcos) * ActGain

[0035] Among them, ActGain is the gain.

[0036] In the second aspect, a spacecraft micro-vibration active control system includes:

[0037] The controller, with input data sourced from sensors and output data transmitted to actuators, is used for remote control, telemetry, and data communication on the one hand, and for data acquisition control, storage, and processing of sensors on the other hand. It generates desired control signals by executing the active micro-vibration control method of the spacecraft, and drives the actuators through the control signals to generate active control forces.

[0038] The sensors are used to obtain input signals for the active micro-vibration control system, including micro-vibration acceleration sensors and force sensors, which are installed at different positions of the spacecraft structure vibration sources or payloads to acquire micro-vibration information at different installation positions. The acquired micro-vibration response signals are transmitted as input information to the controller.

[0039] The actuators are used to execute output signals, including single-degree-of-freedom actuators and multi-degree-of-freedom actuators, which are installed at different positions of the spacecraft structure vibration sources or payloads. Driven by the control signals of the controller, they output active control forces to be applied to the installation positions, thereby achieving the cancellation control of micro-vibration disturbing forces in the target area.

[0040] The advantages of the present invention compared with the prior art are as follows:

[0041] Based on the control algorithm, a closed-loop control software is developed and installed in the controller. By installing sensors in different areas to obtain the micro-vibration information of the spacecraft structure, by running the installed closed-loop control software in the controller to calculate the desired control signals in real time, and by installing actuators in different areas to actively apply control forces to the spacecraft structure to cancel micro-vibration interference. This method does not change the original force transmission system of the spacecraft structure and does not affect the internal relative position relationship of the controlled object. Through the closed-loop feedback information, it can automatically adjust in real time according to the changes in the on-orbit micro-vibration state, and can meet the dual requirements of high-precision installation and high-precision vibration reduction and isolation of the controlled object, improve the reliability and robustness of on-orbit micro-vibration suppression, has high versatility, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered as a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0043] Figure 1 is the calculation flow chart of the active control algorithm of the present invention;

[0044] Figure 2 is the schematic diagram of the active control system of the present invention;

[0045] Figure 3 is the micro-vibration response spectrum diagram of the simulated spacecraft structure in the uncontrolled state in this embodiment;

[0046] Figure 4 This is the spectrogram of the micro-vibration response in the controlled state of the simulated spacecraft structure in this embodiment;

[0047] Figure 5 This is a schematic diagram of the change of the peak curve of the disturbance signal in the frequency domain during the algorithm convergence process in this embodiment. Detailed implementation manners

[0048] To better understand the above technical solutions, the technical solutions of the present invention will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solutions of the present invention, rather than limitations on the technical solutions of the present invention. Without conflict, the technical features in the embodiments of the present invention and the embodiments can be combined with each other.

[0049] The following further describes in detail a method and system for active control of spacecraft micro-vibrations provided by an embodiment of the present invention with reference to the accompanying drawings of the specification. For example, Figure 1 the specific implementation manners may include:

[0050] In a first aspect, a method for active control of spacecraft micro-vibrations calculates the root mean square RMS0 of the error signal before the active control of the spacecraft micro-vibration controller is turned on, and calculates the constant value MiuCst of the convergence factor at the previous moment before the start of the active control loop calculation; enter the active closed-loop control loop iterative calculation, including:

[0051] S1, according to the disturbance frequency f of the passive object, calculate the sine trigonometric function base signal SinBase and the cosine trigonometric function base signal CosBase;

[0052] S2, according to the desired target signal DesSig, update the error signal Error in real time with the acquired signal MeaSig as the input;

[0053] S3, update the root mean square RMS of the error in real time according to the error signal Error, and calculate the maximum value MiuMax of the convergence factor and the control efficiency CtrEff in real time in combination with the input configuration parameters;

[0054] S4, judge the magnitude relationship between the root mean square RMS and the root mean square target factor RMSdes of the error signal Error in real time comparison, and determine the value of the control algorithm conversion factor LmsType;

[0055] S5, according to the value of the control algorithm conversion factor LmsType, select different active control algorithms for iterative update of the convergence factor;

[0056] S6. Iteratively update and calculate the tap coefficients \(W_{sin}\) of the sine trigonometric function base signal \(SinBase\) and the tap coefficients \(W_{cos}\) of the cosine trigonometric function base signal \(CosBase\).

[0057] S7. Update and calculate the output control signal \(CtrSig\) to complete the active control of spacecraft micro-vibrations in the current cycle.

[0058] S8. Return to S1 to enter the next iteration loop calculation step.

[0059] In a second aspect, as Figure 2 described, an active spacecraft micro-vibration control system includes:

[0060] A controller, whose input data comes from sensors and output data is transmitted to an actuator. On the one hand, it is used for telemetry and data communication, and on the other hand, it is used for data acquisition control, storage, and processing of sensors. It generates a desired control signal by executing the described active spacecraft micro-vibration control method, and drives the actuator to generate an active control force through the control signal.

[0061] Sensors, which are used to obtain the input signals of the active micro-vibration control system, including micro-vibration acceleration sensors and force sensors, are installed at different positions of the spacecraft structure vibration source or payload to obtain micro-vibration information at different installation positions. The obtained micro-vibration response signal is transmitted to the controller as input information.

[0062] Actuators, which are used to execute output signals, including single-degree-of-freedom actuators and multi-degree-of-freedom actuators, are installed at different positions of the spacecraft structure vibration source or payload. Driven by the control signal of the controller, they output an active control force to the installation position, thereby realizing the cancellation control of the micro-vibration disturbing force in the target area.

[0063] In the solution provided by the embodiments of the present invention, the active spacecraft micro-vibration control algorithm includes the following steps:

[0064] (1) Define and configure the input parameters of the control algorithm, specifically: root mean square shrinkage factor \(RMSFac\), root mean square target factor \(RMSdes\), root mean square zero-crossing factor \(\delta\), gain \(ActGain\), control frequency \(f\), desired target signal \(DesSig\), step shaping function \(f(u)\), compensation coefficients \(SecPahWSin\), \(SecPahWCos\).

[0065] (2) Calculate the root mean square \(RMS0\) of the error signal before the active control is turned on, and calculate the constant value \(MiuCst\) of the convergence factor at the moment before the start of the active control loop calculation, specifically:

[0066] \(MiuCst = RMSFac / (\delta + RMS0)\)

[0067] (3) Enter the active closed-loop control loop iterative calculation. According to the disturbance vibration frequency f of the passive object, calculate the sine trigonometric function base signal SinBase and the cosine trigonometric function base signal CosBase. Specifically:

[0068] SinBase = sin(2πft)

[0069] CosBase = cos(2πft)

[0070] (4) Take the acquired signal MeaSig as the input to update the error signal Error in real time. Specifically:

[0071] Error = DesSig - MeaSig

[0072] (5) Update the root mean square of the error RMS in real time according to the error signal Error, and calculate the maximum convergence factor MiuMax and the control efficiency CtrEff in real time in combination with the input configuration parameters. Specifically:

[0073] MiuMax = RMSFac / RMS

[0074] CtrEff = 1 - RMS / (δ + RMS0)

[0075] (6) Judge the magnitude relationship between the real-time root mean square RMS of the error signal and the root mean square target factor RMSdes, and determine the value of the control algorithm conversion factor LmsType. Specifically:

[0076] 1) When RMS ≥ RMSdes, LmsType = 2

[0077] 2) When RMS < RMSdes, LmsType = 1

[0078] (7) According to the value of the control algorithm conversion factor LmsType, select different active control algorithms to perform iterative update of the convergence factor, that is, variable step size active control algorithm or fixed step size active control algorithm. Specifically:

[0079] 1) When the control algorithm conversion factor LmsType = 2, adopt the variable step size active control algorithm to perform iterative update of the convergence factor. Specifically:

[0080] u = -Error^2

[0081] Miu1 = f(u) * MiuMax + MiuCst

[0082] Miu2 = min(Miu1, MiuMax)

[0083] MiuCur = max(Miu2, MiuMax)

[0084] 2) When the control algorithm conversion factor LmsType = 1, a fixed-step active control algorithm is used to iteratively update the convergence factor. Specifically:

[0085] Miu1 = MiuCst

[0086] MiuCur = max(Miu1, MiuMax)

[0087] In this embodiment, the micro-vibration response spectra of the simulated spacecraft structure in the uncontrolled and controlled states are as Figure 3 、 Figure 4 shown.

[0088] (8) Iteratively update and calculate the tap coefficients Wsin of the sine trigonometric function base signal SinBase and the tap coefficients Wcos of the cosine trigonometric function base signal CosBase. Specifically:

[0089] Wsin = 2 * (SecPahWsin * SinBase + SecPahWcos * CosBase) * MiuCur * Error + WsinWcos = 2 * (SecPahWsin * CosBase - SecPahWcos * SinBase) * MiuCur * Error + Wcos

[0090] (9) Update and calculate the output control signal CtrSig. Specifically:

[0091] CtrSig = (SinBase * Wsin + CosBase * Wcos) * ActGain

[0092] After executing the current calculation step, enter the next iterative loop calculation step and transfer to the control loop iterative calculation step of step (3).

[0093] In this embodiment, the change of the peak curve of the disturbance signal in the frequency domain during the algorithm convergence process is as Figure 5 shown.

[0094] Based on the same inventive concept, the present invention also provides a spacecraft micro-vibration active control system, which consists of a controller, a sensor, an actuator, a closed-loop control software, and connecting cables, etc.:

[0095] Controller: It is the core device of the active control system. The input data comes from the sensor, and the output data is transmitted to the actuator. On the one hand, it is responsible for functions such as remote control, telemetry, and data communication of the entire system. On the other hand, it is responsible for data acquisition control, storage, and processing of the sensor, runs the loaded closed-loop control software to generate the desired control signal, and drives the actuator to generate active control force through the control signal;

[0096] Sensor: It is a measuring device that senses the micro-vibration disturbance information on the spacecraft and is responsible for obtaining the input signals of the micro-vibration active control system. It includes, but is not limited to, micro-vibration acceleration sensors, force sensors, etc. It can be installed at different positions such as the structural vibration source or payload of the spacecraft to obtain micro-vibration information at different installation positions. The obtained micro-vibration response signal is transmitted to the controller as input information through a cable, and the controller is responsible for data acquisition, storage, and processing, etc.

[0097] Actuator: It is a hardware device that generates control forces and is responsible for executing the output signals of the micro-vibration active control system. It includes, but is not limited to, single-degree-of-freedom actuators, multi-degree-of-freedom actuators, etc. As an actuator, it can be installed at different positions of the structural vibration source or payload of the spacecraft. Driven by the control signal of the controller, it outputs an active control force to the installation position, thereby achieving the cancellation control of the micro-vibration disturbance force in the target area.

[0098] Closed-loop control software: It is the key to realizing the real-time closed-loop control of spacecraft micro-vibrations. It is implemented by programming based on the foregoing control algorithm of the present invention. By optimizing relevant design parameters, the mean square error between its output signal and the desired signal is minimized, realizing the real-time calculation of the optimal control signal. It has the advantages of small computational complexity, good tracking performance, and easy implementation. It is integrated into the controller through embedded development for real-time operation.

[0099] The present invention provides a computer-readable storage medium storing computer instructions, which, when run on a computer, cause the computer to execute Figure 1 the method described above.

[0100] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) containing computer-usable program code.

[0101] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, so that the instructions executed by the processors of the computer or other programmable data processing devices generate for realizing in the processFigure 1 one process or multiple processes and / or blocks Figure 1 a device for the functions specified in one block or multiple blocks.

[0102] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction device that implements the functions in the process Figure 1 one process or multiple processes and / or blocks Figure 1 specified in one block or multiple blocks.

[0103] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the process Figure 1 one process or multiple processes and / or blocks Figure 1 specified in one block or multiple blocks.

[0104] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

[0105] The content not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.

Claims

1. An active control method for spacecraft micro-vibrations, characterized in that, Calculate the root mean square RMS0 of the error signal before the active control of the spacecraft micro-vibration controller is turned on, and calculate the constant value MiuCst of the convergence factor at the moment before the start of the active control loop calculation; Enter the iterative calculation of the active closed-loop control loop, including: S1. Calculate the sine trigonometric function base signal SinBase and the cosine trigonometric function base signal CosBase according to the disturbance vibration frequency f of the passive object; S2. Update the error signal Error in real time with the desired target signal DesSig as the input and the acquired signal MeaSig; S3. Update the root mean square RMS of the error in real time according to the error signal Error, and calculate the maximum value MiuMax of the convergence factor and the control efficiency CtrEff in real time in combination with the input configuration parameters; S4. Judge the magnitude relationship between the root mean square RMS and the root mean square target factor RMSdes of the error signal Error in real time, and determine the value of the control algorithm conversion factor LmsType; S5. Select different active control algorithms for iterative update of the convergence factor according to the value of the control algorithm conversion factor LmsType; S6. Perform iterative update calculations on the tap coefficients Wsin of the sine trigonometric function base signal SinBase and the tap coefficients Wcos of the cosine trigonometric function base signal CosBase; S7. Update and calculate the output control signal CtrSig to complete the active control of the spacecraft micro-vibration in the current cycle; S8. Return to S1 and enter the next iterative loop calculation step.

2. The active control method and system for spacecraft micro-vibration according to claim 1, characterized in that The constant value MiuCst of the convergence factor at the moment before the start of the active control loop calculation is MiuCst = RMSFac / (δ + RMS0); where RMSFac is the root mean square shrinkage factor and δ is the root mean square zero-crossing factor.

3. The active control method and system for spacecraft micro-vibration according to claim 1, characterized in that, The sine trigonometric function base signal SinBase and the cosine trigonometric function base signal CosBase are SinBase = sin(2πft) and CosBase = cos(2πft) respectively; where t is the current time.

4. The active control method and system for spacecraft micro-vibration according to claim 1, characterized in that The maximum value MiuMax of the convergence factor and the control efficiency CtrEff are MiuMax = RMSFac / RMS and CtrEff = 1 - RMS / (δ + RMS0) respectively; where RMSFac is the root mean square shrinkage factor and δ is the root mean square zero-crossing factor.

5. A method and system for active control of spacecraft micro-vibrations according to claim 1, characterized in that, The selection of different active control algorithms for iterative update of the convergence factor includes: When RMS ≥ RMSdes, use the variable step size active control algorithm for iterative update of the convergence factor; Conversely, use the fixed step size active control algorithm for iterative update of the convergence factor.

6. The active control method and system for spacecraft micro-vibration according to claim 5, characterized in that, The variable step size active control algorithm includes: u = -Error^2 Miu1 = f(u) * MiuMax + MiuCst Miu2 = min(Miu1, MiuMax) MiuCur = max(Miu2, MiuMax); Where MiuCur is the current convergence factor, u, Miu1, and Miu2 are intermediate calculation parameters, and f(u) is the step size shaping function.

7. A method and system for active control of spacecraft micro-vibrations according to claim 5, characterized in that The fixed step size active control algorithm includes: Miu1 = MiuCst MiuCur = max(Miu1, MiuMax); Wherein, MiuCur is the current convergence factor, and Miu1 is the intermediate calculation parameter.

8. A method and system for active control of spacecraft micro-vibrations according to claim 1, characterized in that, The tap coefficients Wsin and Wcos are respectively Wsin = 2 * (SecPahWsin * SinBase + SecPahWcos * CosBase) * MiuCur * Error + Wsin Wcos = 2 * (SecPahWsin * CosBase - SecPahWcos * SinBase) * MiuCur * Error + Wcos Wherein, SecPahWsin and SecPahWcos are compensation coefficients, and MiuCur is the current convergence factor.

9. A method and system for active control of spacecraft micro-vibrations according to claim 1, characterized in that The output control signal is CtrSig = (SinBase * Wsin + CosBase * Wcos) * ActGain Wherein, ActGain is the gain.

10. An active control system for spacecraft micro-vibrations, characterized in that, It includes: A controller, whose input data comes from a sensor, and the output data is transmitted to an actuator; On the one hand, it is used for remote control, telemetry and data communication, and on the other hand, it is used for data acquisition control, storage and processing of the sensor. By executing the active control method for spacecraft micro-vibration described in any one of claims 1 to 9, a desired control signal is generated, and the actuator is driven by the control signal to generate an active control force; A sensor, which is used to obtain the input signal of the active micro-vibration control system, including a micro-vibration acceleration sensor and a force sensor, is installed at different positions of the spacecraft structure vibration source or payload to obtain micro-vibration information at different installation positions; the obtained micro-vibration response signal is transmitted to the controller as input information; An actuator, which is used to execute the output signal, including a single-degree-of-freedom actuator and a multi-degree-of-freedom actuator, is installed at different positions of the spacecraft structure vibration source or payload. Driven by the control signal of the controller, an active control force is output and applied to the installation position, so as to realize the cancellation control of the micro-vibration disturbing force in the target area.

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